49 #include <visp3/core/vpHomogeneousMatrix.h>
50 #include <visp3/core/vpMath.h>
51 #include <visp3/core/vpPoint.h>
52 #include <visp3/io/vpParseArgv.h>
53 #include <visp3/robot/vpSimulatorCamera.h>
54 #include <visp3/visual_features/vpFeaturePoint3D.h>
55 #include <visp3/vs/vpServo.h>
58 #define GETOPTARGS "h"
60 void usage(
const char *name,
const char *badparam);
61 bool getOptions(
int argc,
const char **argv);
71 void usage(
const char *name,
const char *badparam)
74 Simulation of a 3D visual servoing:\n\
75 - servo a 3D point,\n\
76 - eye-in-hand control law,\n\
77 - velocity computed in the camera frame,\n\
91 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
103 bool getOptions(
int argc,
const char **argv)
111 usage(argv[0],
nullptr);
115 usage(argv[0], optarg_);
120 if ((c == 1) || (c == -1)) {
122 usage(argv[0],
nullptr);
123 std::cerr <<
"ERROR: " << std::endl;
124 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
131 int main(
int argc,
const char **argv)
133 #if (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
136 if (getOptions(argc, argv) ==
false) {
143 std::cout << std::endl;
144 std::cout <<
"-------------------------------------------------------" << std::endl;
145 std::cout <<
" Test program for vpServo " << std::endl;
146 std::cout <<
" Eye-in-hand task control, velocity computed in the camera frame" << std::endl;
147 std::cout <<
" Simulation " << std::endl;
148 std::cout <<
" task : servo a 3D point " << std::endl;
149 std::cout <<
"-------------------------------------------------------" << std::endl;
150 std::cout << std::endl;
159 robot.getPosition(wMc);
168 std::cout <<
"Point coordinates in the camera frame: " << point.cP.t();
183 std::cout << std::endl;
192 unsigned int iter = 0;
194 while (iter++ < 200) {
195 std::cout <<
"---------------------------------------------" << iter << std::endl;
199 robot.getPosition(wMc);
214 std::cout <<
"|| s - s* || = " << (task.
getError()).sumSquare() << std::endl;
221 std::cout <<
"Catch a ViSP exception: " << e << std::endl;
227 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Implementation of column vector and the associated operations.
error that can be emitted by ViSP classes.
Class that defines the 3D point visual feature.
void set_XYZ(double X, double Y, double Z)
void buildFrom(const vpPoint &p)
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpHomogeneousMatrix inverse() const
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
void setVelocity(const vpRobot::vpControlFrameType frame, const vpColVector &vel) vp_override
void addFeature(vpBasicFeature &s_cur, vpBasicFeature &s_star, unsigned int select=vpBasicFeature::FEATURE_ALL)
void print(const vpServo::vpServoPrintType display_level=ALL, std::ostream &os=std::cout)
void setServo(const vpServoType &servo_type)
vpColVector getError() const
vpColVector computeControlLaw()
Class that defines the simplest robot: a free flying camera.